Abstract: A method of specifying an input value on a robotic manipulator, wherein the method includes: selecting a particular predefined input device to be emulated, wherein the input device to be emulated is assigned at least one degree of freedom of the robotic manipulator and local limits in the at least one degree of freedom, and a transfer function of a coordinate of the robotic manipulator in the at least one degree of freedom is assigned onto the input value; actuating the robotic manipulator such that at least one part of the robotic manipulator is manually movable in the at least one degree of freedom and within the local limits; recording a respective coordinate in the at least one degree of freedom during or after completion of an input on the robotic manipulator via a sensor unit; and applying the transfer function to assign the respective coordinate to the input value.

Abstract: A system for performing an input on a robotic manipulator, wherein the system includes: a robotic manipulator having a plurality of links connected to one another by articulations and having actuators; a sensor unit configured to record an input variable, applied by a user by manually guiding the robotic manipulator, on the robotic manipulator, wherein the input variable is a kinematic variable or a force and/or a moment, and wherein the sensor unit is configured to transmit the input variable; and a computing unit connected to the robotic manipulator and to the sensor unit, the computing unit configured to transform the input variable received from the sensor unit via a predefined input variable mapping, wherein the input variable mapping defines a mathematical mapping of the input variable onto a coordinate of a graphical user interface or onto a setting of a virtual control element.

Abstract: A braking device for a drive device of a joint between two links of a robot arm including a brake activating device and a locking element, wherein the brake activating device is designed to bring the locking element into engagement with a rotor of the drive device as required in order to halt rotation of the rotor, the locking element being designed as a bolt and the braking element being designed as a braking star with webs which have a defined impact surface for the bolt.

Abstract: A method includes: controlling actuators of a robot manipulator to compensate for influence of gravity; during a manual guidance of the robot manipulator detecting an orientation of an end effector; and controlling at least part of the actuators in such a way that during manual guidance of the end effector, the end effector: within a first range of a first rotation, opposes no or a speed-dependent resistance and outside the first range opposes a rotation angle-dependent resistance to the manual guidance, wherein the first rotation is a rotation angle of the end effector about its longitudinal axis; and within a second range of the second rotation, opposes no or a speed-dependent resistance to the manual guidance, and outside the second range, opposes a deflection-dependent resistance to the manual guidance, wherein the second rotation is a rotational deflection of the end effector from its original longitudinal axis or a vertical axis.

Abstract: A method for specifying a velocity of a robot manipulator, including: providing a database that has a data record for each of selected surface points on the manipulator, wherein each data record indicates, for each of possible stiffnesses and/or masses of an object in an environment of the manipulator, a safe normal velocity of each surface point, wherein the normal velocity is a component of the velocity vector of each surface point perpendicular to a surface of each surface point, detecting an actual stiffness and/or an actual mass of the object in the environment, assigning the actual stiffness and/or the actual mass to a normal velocity of a given data record for each surface point, and specifying a velocity for each surface point on a current or planned path of the manipulator, such that the velocity at each surface point is less than or equal to an assigned normal velocity.

Abstract: A device and method for electrical testing of a component, the component including a contact point, wherein the device includes: an interface to provide the component; a robot manipulator having an effector configured to pick up, handle, and release the component; a receiving interface into which the component is insertable; a contacting device having a counter contact, the contacting device positioned in a first state so that the robot manipulator is able to insert/remove the component into/from the receiving interface, and positioned in a second state so that the counter contact is connected to the contact point of the component inserted into the receiving interface; an analysis unit connected to the counter contact and configured to perform electrical testing of the component using connection of the counter contact and the contact point in the second state; and a control unit to control the robot manipulator and the contacting device.

Abstract: A screwing device including: a container for screws; a manipulator having an effector to pick up a screw; an isolating unit connected to the container to provide the screw from the container at an interface such that a head of the screw is accessible to the effector; and a control unit to control the manipulator in executing a control program to perform operations including: guiding the effector along a trajectory having an orientation to the screw head at the interface, wherein the orientation is defined for locations along the trajectory; and executing force-regulated, impedance-regulated, and/or admittance-regulated periodic and closed tilting movements of the effector in relation to its orientation until a condition for a torque, a force, or a time for carrying out the tilting movements is reached or exceeded, and/or a force/torque and/or a position/speed signature at the effector is reached or exceeded, indicating successful pick-up of the screw.

Abstract: A connection assembly between a drive-side structure and a transmission outer ring sealing a transmission arranged radially inside, wherein an annular chamber comprising a connection element arranged therein is configured between the transmission outer ring and the drive-side structure, and a peripheral guide is axially configured at least on one side of the annular chamber between the transmission outer ring and the drive-side structure, wherein the connection element comprises bulges which are spaced over the peripheral extension and are elastically deformable and forms a force-fit connection between the transmission outer ring and the drive-side structure when the bulges elastically deform.

Abstract: A robot having a robot manipulator with an effector, wherein the robot manipulator is designed and constructed for picking up, handling, and releasing an object and is controlled by a control unit, the robot including a first sensor means designed and constructed to determine a persisting adherence of the object to an effector after a release of the object by the effector, and where such an adherence persists, to generate a signal S, wherein when a signal S is present, the control unit is designed and constructed to control the robot manipulator in such a manner that it executes a predefined movement B in which the effector with the persistently adhering object is passed by a wiping object in such a manner that the adhering object is wiped off the effector on a surface or an edge of the wiping object.

Abstract: The invention relates to a method for controlling a robot system as well as a robot system. The robot system includes the following components: a robot ROBO with elements driven by actuators; first sensors S1i for sensing a current robot state; a central control unit ZSE, which executes a current control program SP(t) for controlling the robot system; one or more user interfaces NSp; one or more processor units PEr (205), which execute services MPSr for the central control unit ZSE and/or for one or more of the other components of the robot system; wherein the robot ROBO, the first sensors S1i, the central control unit ZSE, the user interfaces NSp, and the processor units PEr communicate with one another over a data network DN. The central control unit ZSE is configured and executed to predictively test whether an execution of the current control program SP(t) will lead to an error state. If such an error state is predicted during the test, execution of one or more actions takes place.

Abstract: The invention relates to a method of collision handling for a robot with a kinematic chain structure comprising at least one kinematic chain, wherein the kinematic chain structure includes: a base, links, joints connecting the links, actuators and at least one end-effector, a sensor Sdistal.i in the most distal link of at least one of the kinematic chains for measuring/estimating force/torque, and sensors Si for measuring/estimating proprioceptive data, wherein the sensors Si are arbitrarily positioned along the kinematic chain structure, the method including: providing a model describing the dynamics of the robot; measuring and/or estimating with sensor Sdistal.i force/torque Fext,S.distal.

Abstract: A drive unit for joint being arranged between two arm members of a manipulator of a robotic system, the drive unit being intended for the rotatory drive of one arm member in relation to the other arm member, the drive unit having a first drive module, which is to be connected to a first arm member by means of at least one connecting element in a force- and torque-transmitting manner, and having a second drive module, which is to be connected with a second arm member by means of at least one connecting element in a force- and torque-transmitting manner, in which the connecting elements are configured to cooperate with the arm members in radial direction with respect to the rotary axis of the drive unit.

Abstract: A robot including a manipulator driven by actuators, and configured to determine external forces and/or external torques acting upon the manipulator, the robot configured to: regulate the actuators for a sub-space T1 of a working space AR such that, upon application of an external force and/or external torque upon the manipulator, the manipulator recedes into T1, wherein following applies: T1?AR and T1?AR, and AR specifies all permitted translations and/or rotations of the manipulator; and determine, for a space TK1 that is complementary to T1, a projection {right arrow over (P)}TK1 of the external force and/or external torque into TK1, wherein following applies: T1?TK1={0}, TK1?AR, and T1?TK1=AR, classify {right arrow over (P)}TK1 into one of several predefined classes with respect to amount and/or direction and/or time curve of {right arrow over (P)}TK1, store a command and/or rule for each predefined class, and regulate the actuators as a function of classification of {right arrow over (P)}TK1 based on res

Abstract: Device for plugging a plug-in region of an expansion board into a plug-in coupling including: a first interface providing the coupling; a second interface providing the board; a robot manipulator having an effector; and a controller controlling the robot manipulator to plug the region into the coupling, the controller configured to execute a program for the robot manipulator to perform operations including: picking up the board at the second interface using the effector; guiding the board along a trajectory and target orientation of the region to the coupling; carrying out tilting motions of the region until reaching or exceeding a limit value condition G1 for a torque acting on the effector and/or a limit value condition G2 of a force acting on the effector, and/or reaching or exceeding a force/torque signature and/or a position/velocity/acceleration signature at the effector, indicating completion of plugging the region into the coupling within predefined tolerances.

Abstract: A robot having actuator-driven elements, actuators to drive the elements, and brakes to decelerate the elements, the robot requiring voltage UB and/or current IB, the robot including: a source having an input to which voltage UP and current IP are applied, wherein, during normal operation, UP is equal to voltage UP,desired and IP is equal to current IP,desired, and having an output to which voltage Uactual and current Iactual are supplied, wherein during normal operation: Uactual=UB and Iactual=IB, an energy store integrated into the source for maintaining UB and IB for time ?t following failure or drop in UP and/or IP, a unit for monitoring UP, wherein as soon as UP deviates by amount ?U from UP,desired, a signal is generated, and a control unit connected to the unit for controlling the robot and its elements into a predefined safe state upon receipt of the signal.

Abstract: A method and robot for inserting an object into an object-receiving area using an actuator-driven robot manipulator of a robot, wherein the robot manipulator has an effector at its distal end, designed to receive and/or grip the object, and wherein an inserting trajectory T is defined for the object-receiving area and the object to be inserted, and a target orientation Osoll({right arrow over (R)}T) of the object to be inserted is defined along the inserting trajectory T for locations {right arrow over (R)}T of the inserting trajectory T including the following operations: receiving/gripping the object using the effector, moving the object using the robot manipulator along the inserting trajectory {right arrow over (T)} into the object-receiving area while continuously performing predetermined tilting motions of the object that are closed and cyclical motions relative to the target orientation Osoll({right arrow over (R)}T) via a force-regulated and/or impedance-regulated control of the robot manipulator unti

Abstract: The invention relates to a method of controlling a movable robot manipulator for screwing in a screw at least already plugged into a thread, wherein the screw has a screw head with a tool engagement interface, the robot manipulator has at its distal end a tool designed to engage the tool engagement interface, the screw has a screw central axis, and the tool has a tool central axis about which the tool of the robot manipulator is rotatable.

Abstract: A system for controlling a robot.

Abstract: The invention relates to a robot, a robot control system, and a method for controlling a robot. The robot comprises a movable, multi-membered robot structure (102) that can be driven by means of actuators (101), at least one marked structural element S being defined on the movable robot structure (102), with at least one point PS marked on the structural element S. The robot is designed such that, in an input mode, it learns positions POSPS of the point PS and/or poses of the structural element S in a work space of the robot, the user exerting an input force FEING on the movable robot structure in order to move the structural element S, which is conveyed to the point PS as FEING,PS, and/or to the structural element S as torque MEING,S.

Abstract: A robot arm comprising a number N of actuator-drivable joint connections GVn, which are connected in series via arm links GLi, where n=1, 2, . . . , N, and i=1, 2, . . . , N?1, and N?6, wherein the robot arm is configured in such a way that the axes of rotation RGV,N-2 and RGV,N-1 of each of joint connections GVN-1, GVN-2 intersect at an angle in the range from 50 to 130°, an axis of rotation RGV,N of joint connection GVN, is arranged radially at a constant distance D1 from the axis of rotation RGV,N-1, and a sensor is present in the joint connection GVN-1 to detect a force or a torque about the axis of rotation RGV,N-1.